Control apparatus, control method, and storage medium

ABSTRACT

A control apparatus of the present embodiment controls the view angles of a plurality of cameras directed from a center position toward different directions. The control apparatus includes: a changing unit configured to change a view angle corresponding to at least one camera out of the plurality of cameras to a first view angle; a deriving unit configured to derive a second view angle corresponding to another camera different from the at least one camera out of the plurality of cameras by using the first view angle; and an imaging controlling unit configured to cause the plurality of cameras to perform imaging by using the first view angle and the second view angle.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a control apparatus and a controlmethod for controlling the view angles of a plurality of cameras in anomnidirectional camera, and a storage medium storing a program forcausing a computer to function as the control apparatus and the controlmethod.

Description of the Related Art

In the conventional art, there is known a technique of combining imagestaken by a plurality of cameras. Further, as a technique of imaging,part of an object included in a wide-view-angle image with highdefinition, there is also known a technique of performing imaging at awide view angle by a plurality of cameras and at the same time imaging,part of an object included in a wide-view-angle image with highdefinition by a camera different from the plurality of cameras (JapanesePatent Laid-Open No. 2010-213249).

SUMMARY OF THE INVENTION

However, in an imaging apparatus disclosed in Japanese Patent Laid-OpenNo. 2010-213249, the plurality of cameras for taking a wide-view-angleimage and the camera for imaging part of an object with high definitionare separately provided, and accordingly, it is impossible to obtain awide-view-angle image which includes part of an object imaged with highdefinition. Further, in a case where an attempt is made to image anobject with optical zoom and high definition by some of the plurality ofcameras for taking a wide-view-angle image, the view angles of some ofthe plurality of cameras becomes small, and there is a case where anarea which cannot be imaged is generated.

In an aspect of the present invention, there is provided a controlapparatus for controlling view angles of a plurality of cameras directedfrom a center position toward different directions, the controlapparatus comprising: a changing unit configured to change a view anglecorresponding to at least one camera out of the plurality of cameras toa first view angle; a deriving unit configured to derive a second viewangle corresponding to another camera different from the at least onecamera out of the plurality of cameras by using the first view angle;and an imaging controlling unit configured to cause the plurality ofcameras to perform imaging by using the first view angle and the secondview angle.

Further features of the present invention will become apparent from thefollowing description of exemplary embodiments (with reference to theattached drawings).

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram showing the configuration of anomnidirectional camera according to a first embodiment;

FIG. 2A is a schematic diagram showing adjustment of the view angles ofan omnidirectional camera of the conventional art;

FIG. 2B is a schematic diagram showing adjustment of the view angles ofthe omnidirectional camera of the conventional art;

FIG. 3 is a block diagram showing the inner configurations of the cameraand a PC according to the first embodiment;

FIG. 4 is a flowchart showing processing for deriving a view angleaccording to the first embodiment;

FIG. 5 is a flowchart showing processing for converting an imageaccording to the first embodiment;

FIG. 6 is a flowchart showing processing for combining images accordingto the first embodiment;

FIG. 7 is a schematic diagram showing examples of two taken imagesaccording to the first embodiment;

FIG. 8 is a schematic diagram showing an example of a combined image inwhich two images are combined according to the first embodiment;

FIG. 9 is a schematic diagram showing an example of a change in weightcoefficient a according to the first embodiment;

FIG. 10A is a diagram showing a specific example of a combined imagegenerated in a case where the view angles of all cameras constitutingthe omnidirectional camera of the first embodiment are equal;

FIG. 10B is a diagram showing a specific example of a combined imagegenerated in a case where a main camera of the first embodiment imagesan object with high definition;

FIG. 11 is a block diagram showing the inner configurations of a cameraand a PC according to a second embodiment;

FIG. 12 is a flowchart showing processing for deriving a view angleaccording to the second embodiment;

FIG. 13 is a schematic diagram showing an example of a positionalrelationship between an object and cameras according to the secondembodiment;

FIG. 14 is a flowchart showing processing for deriving a view angleaccording to a third embodiment;

FIG. 15 is a schematic diagram showing an example of a positionalrelationship between an object and cameras according to the thirdembodiment;

FIG. 16 is a flowchart showing processing for deriving a view angleaccording to a fourth embodiment;

FIG. 17 is a schematic diagram showing an example of a positionalrelationship between objects and cameras according to the fourthembodiment; and

FIG. 18 is a schematic diagram showing an example of a positionalrelationship between objects and cameras according to the fourthembodiment.

DESCRIPTION OF THE EMBODIMENTS

Hereinafter, embodiments of the present invention will be described withreference to the drawings. The following embodiments do not limit thepresent invention, and not all combinations of features explained in theembodiments are essential to solving means of the present invention.Incidentally, the same reference numeral will be used for the sameelement for the following explanation.

[First Embodiment]

FIG. 1 is a schematic diagram showing the configuration of anomnidirectional camera 1 according to the present embodiment. Theomnidirectional camera 1 of the present embodiment includes a pluralityof cameras 100 and a PC 200. The plurality of cameras 100 are directedfrom a center position toward different directions. Explanation will bemade below on processing cooperatively performed by the plurality ofcameras 100 and the PC 200. In the omnidirectional camera 1 of thepresent embodiment, the plurality of cameras 100 constituting theomnidirectional camera 1 perform imaging in synchronization with oneanother, and the PC 200 performs image processing on a taken image,thereby generating one wide-view-angle image. Out of the plurality ofcameras 100, a camera for imaging an object of interest is referred toas a main camera, and a camera other than the main camera is referred toas a slave camera. Further, a spherical wide-view-angle image can alsobe generated by extending the plurality of cameras 100 not only in ahorizontal direction, but also in a vertical direction, but in thepresent embodiment, its explanation will be omitted for simplification.A panoramic image spanning 360 degrees in the horizontal direction isreferred to as a wide-view-angle image.

FIGS. 2A and 2B are schematic diagrams showing adjustment of the viewangles of an omnidirectional camera of the conventional art. Discussionwill be made on control of a view angle necessary for obtaining awide-view-angle image including part of an object which is imaged withhigh definition with reference to FIGS. 2A and 2B. FIG. 2B is aschematic diagram showing an example in which one of the cameras 100constituting the omnidirectional camera performs optical zoom, therebyreducing the view angle of the camera 100. The camera 100 shifts from astate in which the camera 100 images an object at a normal magnification(FIG. 2A) to a state in which the camera 100 images the object withoptical zoom and high definition (FIG. 2B). On this occasion, since theview angle of the camera 100 becomes small, there is generated an areawhich cannot be imaged by the camera 100 or a camera 100′ adjacent tothe camera 100. In this manner, in a case where an attempt is made toimage the object with high definition, the view angle of the cameraimaging the object becomes small, and there is a case where it isimpossible to generate a wide-view-angle image from the images takenwith the plurality of cameras.

<Inner Configurations of the Camera 100 and the PC 200>

FIG. 3 is a block diagram showing the inner configurations of the camera100 and the PC 200 according to the present embodiment. First, the innerconfiguration of the camera 100 will be described with reference to FIG.3. As shown in FIG. 1, the omnidirectional camera of the presentembodiment includes the plurality of cameras, and each camera 100 hasthe same configuration unless explained otherwise.

An optical unit 101 includes a lens for collecting light from an objectinto a sensor 102, a driving device for moving a lens to adjust a focusor perform zooming, a shutter mechanism, an iris mechanism, and thelike. Each mechanism constituting the optical unit 101 is driven basedon a control signal from a control unit 107. The sensor 102 is driven inresponse to a timing signal output from a timing signal generating unit103, and converts incident light from the object into an electricsignal. The timing signal generating unit 103 outputs a timing signalunder the control of the control unit 107. An A/D conversion circuit 104performs A/D conversion of an electric signal output from the sensor 102and outputs a digital image signal. An image processing circuit 105processes the image signal output from the A/D conversion circuit 104 byperforming all or part of camera signal processing such as demosaicprocessing, white balance processing, color correction processing, AFprocessing, and AE processing. An encoder/decoder 106 compresses andencodes an image signal output from the image processing circuit 105 byusing a still image/moving image data format of the JPEG standard or thelike. Further, the encoder/decoder 106 expands and decodes encoded stillimage/moving image data supplied from the control unit 107.

The control unit 107 is a microcontroller including, for example, a CPU,a ROM, and a RAM and integrally controls each unit of the camera 100 byexecuting a program stored in the ROM. An input unit 108 is constitutedby various operation interfaces such as a shutter release button, andoutputs, to the control unit 107, a control signal based on an inputoperation by a user. A graphic I/F 109 generates an image signal fordisplaying a display unit 110 from an image signal supplied from thecontrol unit 107, and supplies the generated image signal to the displayunit 110. The display unit 110 is, for example, a liquid crystal displayand converts the image signal supplied from the graphic I/F 109 into animage and displays the image. The display unit 110 displays, forexample, a camera-through image before imaging and an image stored in amemory card or the like. An R/W 111 is removably connected to a memorycard including a portable flash memory as a print medium for storingimage data or the like generated by performing imaging by the camera100. The R/W 111 writes, to the memory card, data supplied from thecontrol unit 107 and data read from a storing unit 112, and outputs dataread from the memory card to the control unit 107. Incidentally, as aprint medium other than the memory card, it is possible to use awritable optical disk, an HDD, or the like. An output I/F 113 is aconnection terminal such as a USB, an HDMI (registered trademark), or anHD-SDI, and image data stored in the memory card is transmitted to anexternal device such as a PC.

Next, the inner configuration of the PC will be described with referenceto FIG. 3. As shown in FIG. 1, the PC 200 of the present embodiment isconnected to the plurality of cameras 100 so that the PC 200 cancommunicate with the cameras 100. This PC 200 constitutes a controlapparatus for controlling the plurality of cameras 100 connected to thePC 200 so that the cameras 100 can communicate with the PC 200.

In response to changing the view angle of at least one camera 100 out ofthe plurality of cameras 100, a view angle deriving unit 201 performsprocessing for deriving the view angle of another camera 100. A specificprocessing method will be described later. An image obtaining unit 202obtains images taken by the plurality of cameras 100, and temporarilystores the images in a storage area such as a RAM 207. An imageconverting unit 203 performs processing for converting the taken imagesbased on view angles corresponding to the plurality of cameras 100 andsupplied from the view angle deriving unit 201 and the taken imagesstored by the image obtaining unit 202. A specific processing methodwill be described later. An image combining unit 204 combines the takenimages after converting processing supplied from the image convertingunit 203, and generates a wide-view-angle image. A specific processingmethod for generating the wide-view-angle image will be described later.

A CPU 205 integrally controls the following units. A ROM 206 is an areafor storing a control program to be executed by the CPU 205, a table, orthe like. The RAM 207 functions as a main memory and a work area of theCPU 205. A bus 208 is a data transfer path for various data, and forexample, the image data processed by the image combining unit 204 istransmitted to a predetermined display unit externally connected to thePC 200 via the bus 208. An input unit 209 includes a shutter releasebutton, a button for receiving input of various operation instructions,a touch panel, and the like, and the user can operate a button or thelike of the input unit 209, thereby giving an operation instruction tothe cameras 100 from the PC 200.

<Basic Operation of Imaging by the Omnidirectional Camera 1>

Explanation will be made on a basic operation of performing imaging bythe above-described omnidirectional camera 1. The omnidirectional camera1 receives adjustment of the view angle of the optical unit 101 of thecamera 100 via the input unit 209 of the PC 200. This enables the userto change the view angle of the optical unit 101 before imaging so thatan object can be imaged with higher definition. Incidentally, adjustmentof the optical unit 101 of the camera 100 can be received via the inputunit 108 of the camera 100.

Next, the omnidirectional camera 1 receives designation of a main cameraout of the plurality of cameras via the input unit 209 of the PC 200.The user half-depresses the shutter release button of the input unit 209of the PC 200 in a state in which designation of the main camera isreceived. The control unit 107 of each camera transmits the view angleof the current main camera to the PC 200 in response to half-depressionof the shutter release button of the input unit 209 of the PC 200.

Next, the control unit 107 of each camera receives a view angle derivedfrom the PC 200, and controls the optical unit 101 so that the viewangle of the optical unit 101 becomes the view angle received from thePC 200. Explanation will be made later on a specific processing methodfor controlling a view angle by the control unit 107 of each camera.After the control unit 107 of each camera performs control to change theview angle of the optical unit 101, the control unit 107 of each cameratransmits a taken image to the PC 200 in response to the user depressingthe shutter release button.

<Method for Deriving a View Angle>

FIG. 4 is a flowchart showing processing for deriving the view angle ofa slave camera according to the present embodiment. With reference tothe flowchart shown in FIG. 4, explanation will be made on processing inwhich the PC 200 derives the view angle of the slave camera in order toimage an object with high definition and generate a wide-view-angleimage. Incidentally, in the processing according to the flowchart shownin FIG. 4, program code stored in the ROM 206 is loaded in the RAM 207,and executed by the CPU 205.

In S401, the view angle deriving unit 201 obtains, from all the camerasconstituting the plurality of cameras 100, a camera ID which is the IDof each camera and a view angle which corresponds to each camera in aform in which the camera ID and the view angle correspond to each other.

In S402, the view angle deriving unit 201 obtains the camera ID of themain camera for capturing the object of interest. More specifically, theview angle deriving unit 201 obtains, as the camera ID of the maincamera, the camera ID of a camera whose designation is received from theuser via the input unit 209 of the PC 200.

In S403, the view angle deriving unit 201 derives the view angle of theslave camera. In the present embodiment, the view angle deriving unit201 sets the view angle corresponding to the camera ID of the slavecamera to a maximum view angle which can be set in the camera 100. Theview angle deriving unit 201 outputs a corresponding view angle to thecamera 100 specified by the camera ID of the slave camera. In thismanner, it can be said that the view angle deriving unit 201 foroutputting a corresponding view angle to the camera 100 specified by thecamera ID of the slave camera is an imaging controlling unit configuredto cause the camera 100 to perform imaging at the corresponding viewangle. Incidentally, in the present embodiment, explanation has beenmade on an example in which designation of the main camera is receivedfrom the user (S402), but the present invention is not limited to thisexample. For example, it is possible to use an example in which the maincamera is designated by automatically determining a camera whose viewangle is the smallest among the view angles of the cameras obtained inS401 to be the main camera.

<Processing for Controlling the View Angle of the Camera 100>

In a case where the control unit 107 of the camera 100 receives a viewangle corresponding to a camera ID from the PC 200, the control unit 107controls the optical unit 101 so that the view angle of the optical unit101 is equal to the received view angle.

<Processing for Converting a Taken Image>

FIG. 5 is a flowchart showing processing for converting images taken bycameras having different view angles out of the plurality of cameras 100according to the present embodiment. With reference to the flowchartshown in FIG. 5, explanation will be made on processing for convertingimages taken by cameras having different view angles. Incidentally, inthe processing according to the flowchart shown in FIG. 5, the programcode stored in the ROM 206 is loaded in the RAM 207, and executed by theCPU 205.

In S501, the image obtaining unit 202 obtains, from all the camerasconstituting the omnidirectional camera 1, each camera ID and an imagetaken by a camera corresponding to the camera ID.

In S502, the image converting unit 203 obtains, from the view anglederiving unit 201, each camera ID and a view angle specified by thecamera ID.

In S503, the image converting unit 203 compares the view angle θ of acamera corresponding to a given camera ID with the view angle θm of themain camera, and makes determination. In a case where the view angle θis equal to the view angle θm of the main camera (S503: YES), theprocess proceeds to S505. On the other hand, in a case where the viewangle θ is not equal to the view angle θm of the main camera (S503: NO),the process proceeds to S504.

In step S504, the image converting unit 203 converts a taken imagecorresponding to the camera ID. In the present embodiment, the imageconverting unit 203 enlarges or reduces the taken image corresponding tothe camera ID. An enlargement/reduction rate S for enlargement/reductionprocessing can be calculated according to the following formula.

$\begin{matrix}{S = \frac{\theta}{\theta_{m}}} & {{Formula}\mspace{14mu}(1)}\end{matrix}$

Incidentally, a method for enlarging or reducing a taken image may be apublicly-known method such as a linear interpolation method or a nearestneighbor method.

In S505, the image converting unit 203 determines whether view anglescorresponding to all the camera IDs are compared with the view angle θmof the main camera. In a case where there is an unprocessed camera ID(S505: NO), the process proceeds to S503 in order to compare a viewangle corresponding to a next camera ID with the view angle θm of themain camera and makes determination. In a case where processing forcomparing the view angles corresponding to all the camera IDs and makingdetermination ends (S505: YES), processing according to the flowchartshown in FIG. 5 ends.

<Processing for Combining Images>

FIG. 6 is a flowchart showing processing for combining a plurality ofimages which are subjected to the enlargement/reduction processing inS504 according to the present embodiment. With reference to theflowchart shown in FIG. 6, explanation will be made on processing forcombining a plurality of images which are subjected to the conversionprocessing in S504. Incidentally, in the processing according to theflowchart shown in FIG. 6, the program code stored in the ROM 206 isloaded in the RAM 207, and executed by the CPU 205.

In S601, the image combining unit 204 allocates unique image IDs to allimages which are subjected to enlargement/reduction processing by theimage converting unit 203. For example, in a case where there are Nimages, identifiable image IDs I1, I2, I3, . . . , IN are allocated tothe images.

In S602, the image combining unit 204 selects two images from a group ofimages to which the image IDs are allocated in S601. Examples of twoimages selected in S602 are an image In and an image Im in FIG. 7.

In S603, the image combining unit 204 determines the number of pixels inthe image In selected in S602 and the number of pixels in the image Imselected in S602. In the present embodiment, explanation will be madeassuming that the number of pixels in the image In is larger than thenumber of pixels in the image Im as shown in FIG. 7.

In S604, the image combining unit 204 performs pattern matching betweenthe image In and the image Im. It is possible to apply a publicly-knowntechnique as this pattern matching.

$\begin{matrix}{{R_{SSD}\left( {x,y} \right)} = {\sum\limits_{v = 1}^{h_{m}}\;{\sum\limits_{u = 1}^{w_{m}}\;\left( {{I_{n}\left( {{x + u - 1},{y + v - 1}} \right)} - {I_{m}\left( {u,v} \right)}} \right)^{2}}}} & {{Formula}\mspace{14mu}(2)}\end{matrix}$

For example, as expressed by the above mathematical formula, similarityR_(SSD) (x, y) between images at coordinates (x, y) is calculated. Here,u and v represent coordinates in the image Im, and hn and wn representthe number of vertical pixels and the number of horizontal pixels in theimage In, respectively. Likewise, hm and wm represent the number ofvertical pixels and the number of horizontal pixels in the image Im,respectively. The image combining unit 204 changes the coordinates (x,y) in the image In, searches the entire image In for an area similar tothe image Im, and calculates a minimum value as the similarity R_(SSD).Further, as a result of search, the image combining unit 204 stores, inthe RAM 207, coordinates corresponding to the minimum value as (xp, yp).

In S605, the image combining unit 204 combines the image In and theimage Im so that matching areas in the images In and Im overlap eachother. FIG. 8 shows an example of a combined image in which the image Inand the image Im are combined in S605. In the present embodiment, theimage combining unit 204 can perform combining processing in S605 byusing the following formula in the case of matching the image In and theimage Im in FIG. 8, for example.I′(x, y)=αI _(n)(x, y)+(1−α)I _(m)(x, y)  Formula (3)

I′ represents an image after the image In and the image Im are combined,and α represents a weight coefficient in the range of 0 to 1. FIG. 9shows a change in weight coefficient α on a dotted line in FIG. 8.

As described above, the image Im has higher definition than the imageIn. As shown in FIG. 9, the weight coefficient α changes so that thecombined image I′ is a high-definition image in the area of the imageIm. More specifically, the weight coefficient α changes so that theweight coefficient α is 1 in the image In, gradually decreases in apredetermined area in which the image In and the image Im overlap eachother, and is 0 in the image Im.

In S606, the image combining unit 204 allocates a new image ID to thecombined image I′ generated in S605. For example, in a case where amaximum image ID is N, an image ID such as IN+1 is allocated to thecombined image I′.

In S607, the image combining unit 204 determines whether all images arecombined to generate one combined image. In a case where one combinedimage is generated (S607: YES), the image combining unit 204 outputs thecombined image generated in S605 to a display unit or the like, and theprocessing according to the flowchart shown in FIG. 6 ends. In a casewhere one combined image is not generated (S607: NO), the processproceeds to S602 again, and image IDs other than the two image IDsselected in S602 before are selected, and processing in S603 onward isperformed again.

FIG. 10A is a diagram showing a specific example of a combined imagegenerated in a case where the view angles of all the camerasconstituting the omnidirectional camera 1 of the present embodiment areequal. FIG. 10A shows a combined image 1010 generated from three takenimages. A view angle 1012 indicates the view angle of the main camera,and view angles 1011 and 1013 indicate the view angles of the slavecameras. In a case where the view angles of all the cameras are equal,all the taken images are each composed of an equal number of pixels. Inthe present embodiment, three images each having an equal number ofpixels are combined to generate the combined image 1010.

FIG. 10B is a diagram showing a specific example of a combined imagegenerated in a case where the main camera zooms in on an object andimages the object with high definition according to the presentembodiment. FIG. 10B shows a combined image 1020 generated from threetaken images. A view angle 1022 indicates the view angle of the maincamera, and view angles 1021 and 1023 indicate the view angles of theslave cameras. As described above, in a case where out of the pluralityof cameras 100 constituting the omnidirectional camera 1, a given camerazooms in on an object, the view angle of the main camera for imaging theobject of interest becomes small, and the view angles of the slavecameras are maximized. Then, a predetermined enlargement rate is appliedto images taken by the slave cameras (S504). As a result, one takenimage having a high resolution and a small number of pixels and twotaken images having a low resolution and a large number of pixels arecombined to generate the combined image 1020 shown in FIG. 10B.

Further, in the present embodiment, combining processing is performed toenhance the definition of an area of an image taken with highdefinition, but it is possible to simply generate a combined image basedon an average of the pixel values of two images. Furthermore, asdescribed above, in the present embodiment, a panoramic image spanning360 degrees in the horizontal direction is a wide-view-angle image, butit is also possible to generate a spherical wide-view-angle image byextending image processing shown in FIGS. 4 to 6 not only in thehorizontal direction, but also in the vertical direction.

As explained above, the omnidirectional camera 1 of the presentembodiment can suppress generation of an area which cannot be imaged andobtain a wide-view-angle image including part of an object taken withhigh definition by controlling the view angles of the plurality ofcameras.

[Second Embodiment]

In the first embodiment, explanation has been made on the example inwhich in a case where the main camera zooms in on an object, control isperformed so that the view angles of the slave cameras are maximized.However, there is a case where the view angles of the slave cameras areexcessively large, and in a generated wide-view-angle image, therearises a large difference in definition between a portion imaged by themain camera and a portion imaged by a peripheral camera. Accordingly, inthe present embodiment, explanation will be made on a method forgenerating a high-definition image as an entire wide-view-angle imagewhile imaging an object with high definition by controlling the viewangle of the slave camera according to a distance between the maincamera and the object. Incidentally, explanation of portions common tothe first and second embodiments will be simplified or omitted, andexplanation will be mainly made below on points unique to the presentembodiment.

<Inner Configurations of the Camera 100 and the PC 200>

FIG. 11 is a block diagram showing the inner configurations of thecamera 100 and the PC 200 according to the present embodiment. Theelements ranging from the optical unit 101 to the input unit 209 arecommon to the first and second embodiments, and their explanation willbe omitted.

A position/attitude information storing unit 210 holds position/attitudeinformation specifying at what position and in what attitude theplurality of cameras 100 constituting the omnidirectional camera 1 aredisposed in the omnidirectional camera 1. In the present embodiment, theposition/attitude information includes coordinate information oncoordinates in xyz three-dimensional coordinate space indicating therelative positions of the cameras 100 and rotational coordinateinformation on rotational coordinates in xyz three-dimensionalcoordinate space indicating the relative orientations of the cameras100, and can be read from the ROM 206, for example.

<Method for Deriving a View Angle>

FIG. 12 is a flowchart showing processing for deriving the view angle ofthe slave camera according to the present embodiment. With reference tothe flowchart shown in FIG. 12, explanation will be made on processingfor deriving the optimum view angle of the slave camera by the PC 200 inorder to generate a wide-view-angle image including part of an objectimaged with high definition while suppressing generation of an areawhich cannot be imaged. Incidentally, in the processing according to theflowchart shown in FIG. 12, the program code stored in the ROM 206 isloaded in the RAM 207, and executed by the CPU 205.

Processing in S1201 and S1202 is identical to processing in S401 andS402 in the first embodiment, and their explanation will be omitted. InS1203, the view angle deriving unit 201 obtains the position/attitudeinformation on all the cameras from the position/attitude informationstoring unit 210. The position/attitude information is represented bythe coordinate information indicating the relative positions of thecameras 100 in the omnidirectional camera 1 and the rotationalcoordinate information indicating the relative orientations of thecameras 100 as described above.

In S1204, the view angle deriving unit 201 obtains a distance betweenthe main camera and the object. As a specific method for obtaining thedistance, a publicly-known method can be used. For example, the distancecan be obtained from the result of the auto focus of the main camera, orthe distance to the object can be obtained by imaging the object by theplurality of cameras and using triangulation.

In S1205, the view angle deriving unit 201 derives the view angle of theslave camera. FIG. 13 shows a positional relationship among the object,the main camera, and the slave camera in a case where the cameras arepositioned on a predetermined circumference (FIG. 1). In FIG. 13, D is adistance from the main camera m to the object obj in the direction ofthe y-axis, θm is the view angle of the main camera m, and θa is theview angle of the slave camera a. Further, the x-axis is an axis whichis perpendicular to the optical axis of the main camera m and which ishorizontal to the ground contact surface of the omnidirectional camera 1(hereinafter referred to as “the ground contact surface”), the y-axis isin the direction of the optical axis, and the z-axis is an axis which isperpendicular to the optical axis and which is perpendicular to theground contact surface. Further, the coordinates of the main camera m inthe xyz three-dimensional coordinates are (xm, ym, zm), and thecoordinates of the slave camera a are (xm+xa, ym−ya, zm). The rotationalcoordinates of the main camera m in the xyz three-dimensional spacecoordinates (rotational angles around the x-axis, the y-axis, and thez-axis) are (0, 0, 0), and the rotational coordinates of the slavecamera a are (0, 0, φ). The view angle θa of the slave camera a isderived as a value satisfying the following formula.

$\begin{matrix}{{{{D\;\tan\frac{\theta_{m}}{2}} + {\left( {D + y_{a}} \right){\tan\left( {\frac{\theta_{a}}{2} - \phi} \right)}} - x_{a}} > {Th}}\therefore{\theta_{a} > {{2\phi} + {2\;{\tan^{- 1}\left( \frac{{Th} + x_{a} - {D\;\tan\frac{\theta_{m}}{2}}}{D + y_{a}} \right)}}}}} & {{Formula}\mspace{14mu}(4)}\end{matrix}$

Incidentally, Th is a threshold, and in the present embodiment, Th is athreshold for determining how much a given area of the object objcaptured by the main camera m overlaps a given area of the object objcaptured by the slave camera a. The view angle deriving unit 201 outputsthe view angle derived in S1205 to the slave camera. The control unit107 of the slave camera performs control so that the view angle of theslave camera becomes the view angle received by the optical unit 101.

As explained above, the omnidirectional camera 1 of the presentembodiment can image the object with high definition and generate ahigh-definition image as an entire wide-view-angle image by controllingthe view angle of the slave camera according to the distance to theobject. Further, the view angle θa of the slave camera a is derived bycalculating the above mathematical formula, and a mathematical formulafor deriving the view angle θa is not limited to the above mathematicalformula as long as the mathematical formula is based on the view angleθm of the main camera and the distance D between the main camera and theobject. For example, it is possible to use a mathematical formula whichexpresses processing for increasing the view angle θa of the slavecamera a until the object obj imaged by the main camera m is within thearea which can be imaged by the slave camera a.

[Third Embodiment]

In the first and second embodiments, explanation has been described onan example in which the view angles of the plurality of camerasconstituting the omnidirectional camera 1 are controlled assuming thatthe object is stationary. In the present embodiment, explanation will bemade on an example in which the view angles are controlled in a casewhere the plurality of cameras constituting the omnidirectional camera 1image a moving object. In the omnidirectional camera 1 of the presentembodiment, the plurality of cameras can capture the moving object, andaccordingly, it is possible to image the moving object as a movingimage. Incidentally, explanation of portions common to the first tothird embodiments will be simplified or omitted, and explanation will bemainly made below on points unique to the present embodiment.

<Method for Deriving a View Angle>

FIG. 14 is a flowchart showing processing for deriving the view angle ofthe slave camera according to the present embodiment. With reference tothe flowchart shown in FIG. 14, explanation will be made on processingin which the PC 200 derives the view angle of the slave camera in orderto generate a wide-view-angle image including the moving object whileimaging the object with high definition. Incidentally, in the processingaccording to the flowchart shown in FIG. 14, the program code stored inthe ROM 206 is loaded in the RAM 207, and executed by the CPU 205.

Processing in S1401 to S1403 is identical to processing in S1201 toS1203 in the second embodiment, and their explanation will be omitted.

In S1404, the view angle deriving unit 201 obtains the relativepositions of the main camera and the object captured by the main camera.As a specific method for obtaining the positions, a publicly-knownmethod can be used, and for example, the positions can be obtained byemitting an infrared laser for measuring the positions from the maincamera to the object and receiving a reflection from the object. FIG. 15shows a positional relationship among the object, the main camera, andthe slave camera in a case where the cameras are positioned on apredetermined circumference (FIG. 1). In FIG. 15, D is a distancebetween the main camera m and the object obj in the direction of they-axis, 1 is a distance between the optical axis of the main camera mand the object obj in the direction of the x-axis, θm is the view angleof the main camera m, and θa is the view angle of the slave camera a.

In S1405, the view angle deriving unit 201 determines the position ofthe object obj. For example, let's assume that the relationship betweenthe relative positions of the object obj and the main camera m is theone shown in FIG. 15. On this occasion, the view angle θm can be derivedfrom the following formula.

$\begin{matrix}{\theta_{m} = {2\;{\tan^{- 1}\left( \frac{l}{D} \right)}}} & {{Formula}\mspace{14mu}(5)}\end{matrix}$

In a case where it is determined that θm calculated from the abovemathematical formula is equal to or smaller than a predeterminedthreshold (S1405: YES), that is, in a case where it is determined thatthe main camera m captures the object obj at the view angle θm, theprocess proceeds to S1406. On the other hand, in a case where it isdetermined that θm is larger than the predetermined threshold (S1405:NO), that is, in a case where it is determined that the object obj whichwas captured by the main camera m is not in an area which can becaptured by the main camera m at the view angle θm, the process proceedsto S1407. In the present embodiment, in S1405, the view angle θm of themain camera m is determined by using the predetermined threshold, but avalue to be compared with the predetermined threshold is not limited tothis. For example, it is possible to compare the predetermined thresholdwith an angle formed by the optical axis of the main camera, the centerof the omnidirectional camera 1, and the position of the object obj.

In S1406, the view angle deriving unit 201 derives the view angle θa ofthe slave camera a. As in the second embodiment, the x-axis is an axiswhich is perpendicular to the optical axis of the main camera m andwhich is horizontal to the ground contact surface, the y-axis is in thedirection of the optical axis, and the z-axis is an axis which isperpendicular to the optical axis and which is perpendicular to theground contact surface. Further, the coordinates of the main camera mare (xm, ym, zm), and the coordinates of the slave camera a are (xm+xa,ym−ya, zm). The rotational coordinates of the main camera m in the xyzthree-dimensional space coordinates are (0, 0, 0), and the rotationalcoordinates of the slave camera a are (0, 0, φ). The view angle θa ofthe slave camera a is derived as a value satisfying the followingformula.

$\begin{matrix}{{{{D\;\tan\frac{\theta_{m}}{2}} + {\left( {D + y_{a}} \right){\tan\left( {\frac{\theta_{a}}{2} - \phi} \right)}} - l} > {Th}}\therefore{\theta_{a} > {{2\phi} + {2\;{\tan^{- 1}\left( \frac{{Th} + l - {D\;\tan\frac{\theta_{m}}{2}}}{D + y_{a}} \right)}}}}} & {{Formula}\mspace{14mu}(6)}\end{matrix}$

Incidentally, Th is a threshold, and in the present embodiment, Th is athreshold for determining how much a given area of the object objcaptured by the main camera m overlaps a given area of the object objcaptured by the slave camera a. The view angle deriving unit 201 outputsthe view angle derived in S1406 to the slave camera. The control unit107 of the slave camera performs control so that the view angle of theslave camera becomes the view angle received by the optical unit 101.

On the other hand, in a case where it is determined that θm is largerthan the predetermined threshold (S1405: NO), the view angle derivingunit 201 changes the main camera in S1407. In S1407, the slave camerawhich is adjacent to the main camera and which is closest to the objectis changed to the main camera based on the position of the objectobtained in S1404. In the following example, explanation will be made ona case where the slave camera a is changed to the main camera a and themain camera m is changed to the slave camera m.

In S1408, the view angle deriving unit 201 derives the view angle of themain camera a. The view angle θa of the main camera a can be derivedfrom the following formula.

$\begin{matrix}{\theta_{a} = {{2\;{\tan^{- 1}\left( \frac{x_{a} - l}{D + y_{a}} \right)}} + \phi}} & {{Formula}\mspace{14mu}(7)}\end{matrix}$

In S1409, the view angle deriving unit 201 derives the view angle θm ofthe slave camera m. The view angle θm of the slave camera m can bederived from the following formula.

$\begin{matrix}{{{{D^{\prime}\;\tan\frac{\theta_{a}}{2}} + {\left( {D^{\prime} + y_{a}} \right){\tan\left( {\frac{\theta_{m}}{2} - \phi} \right)}} - l^{\prime}} > {Th}}\therefore{\theta_{m} > {{2\phi} + {2\;{\tan^{- 1}\left( \frac{{Th} + l^{\prime} - {D^{\prime}\;\tan\frac{\theta_{a}}{2}}}{D^{\prime} + y_{a}} \right)}}}}} & {{Formula}\mspace{14mu}(8)}\end{matrix}$

Incidentally, D′ is a distance between the main camera a and the objectin a direction parallel to the optical axis, and l′ is a distancebetween the optical axis of the main camera a and the object obj in aperpendicular direction. Further, as in the first and secondembodiments, Th is a threshold, and in the present embodiment, Th is athreshold for determining how much a given area of the object objcaptured by the main camera a overlaps a given area of the object objcaptured by the slave camera m. The view angle deriving unit 201 outputsthe view angle derived in S1409 to the slave camera. The control unit107 of the slave camera performs control so that the view angle of theslave camera becomes the view angle received by the optical unit 101.

As explained above, as in the first and second embodiments, theomnidirectional camera 1 of the present embodiment can suppressgeneration of an area which cannot be imaged and generate awide-view-angle image including part of the object which can be imagedwith high definition by controlling the view angle of the slave camera.Further, the omnidirectional camera 1 of the present embodiment switchesbetween the main camera for capturing the object and the slave cameraaccording to the position of the object. Even in a case where the objectmoves, it is possible to suppress generation of an area which cannot beimaged, and generate a wide-view-angle image including part of theobject which is imaged with high definition by switching between themain camera and the slave camera to capture the object.

[Fourth Embodiment]

In the first to third embodiments, explanation has been made on theexample in which the object is a single object and the view angles ofthe plurality of cameras constituting the omnidirectional camera 1 arecontrolled. In the present embodiment, explanation will be made oncontrol of view angles in a case where a plurality of objects exist, anda plurality of main cameras image different objects. Incidentally,explanation of portions common to the first to fourth embodiments willbe simplified or omitted, and explanation will be mainly made below onpoints unique to the present embodiment.

<Method for Deriving a View Angle>

FIG. 16 is a flowchart showing processing for deriving the view anglesof the slave camera and the main cameras according to the presentembodiment. With reference to the flowchart shown in FIG. 16,explanation will be made on processing in which the PC 200 derives theview angles of the slave camera and the main cameras in order to imagethe different objects with high definition by the plurality of maincameras and generate a wide-view-angle image. Incidentally, in theprocessing according to the flowchart shown in FIG. 16, program codestored in the ROM 206 is loaded in the RAM 207, and executed by the CPU205.

Processing in S1601 and S1602 is identical to processing in S1201 andS1202 in the second embodiment, and their explanation will be omitted.

In S1603, the view angle deriving unit 201 determines whether all thecamera IDs of the main cameras are obtained. In a case where all thecamera IDs of the main cameras are obtained (S1603: YES), the processproceeds to S1604. On the other hand, in a case where not all the cameraIDs of the main cameras are obtained (S1603: NO), the process returns toS1602, and the obtainable camera ID of the main camera is retrieved.

Processing in S1604 is identical to processing in S1203 in the secondembodiment, and its explanation will be omitted.

In S1605, the view angle deriving unit 201 obtains distances between themain cameras and different objects captured by the main cameras. Amethod for obtaining the distances between the main cameras and theobjects is identical to the processing in S1204 in the secondembodiment, and its explanation will be omitted.

In S1606, the view angle deriving unit 201 selects the shortest distanceamong the distances obtained in S1605. In an example shown in FIG. 17, adistance Dm between the main camera m and an object obj1 is comparedwith a distance Db between a main camera b and an object obj2. In thisexample, since the distance Db is shorter, the distance Db is selectedas the shortest distance.

In S1607, the view angle deriving unit 201 determines whether the cameraID of an adjacent main camera exists. The processing in S1607 isprocessing for determining whether there exists a group of adjacent maincameras for capturing different objects in the omnidirectional camera 1as shown in, for example, FIG. 17. For example, the view angle derivingunit 201 selects the camera IDs of the main cameras obtained in S1602 inthe increasing order of the number of the camera ID. Then it isdetermined whether the ID of a camera adjacent to the selected maincamera is a camera ID designated for a main camera. In a case where thecamera ID of the adjacent main camera does not exist (S1607: NO), theprocess proceeds to S1608. On the other hand, in a case where the cameraID of the adjacent main camera exists (S1607: YES), the process proceedsto S1610.

In S1608, the view angle deriving unit 201 derives the view angle of theslave camera a between the main camera m and the main camera b. FIG. 17shows a positional relationship between the objects and the main camerasin a case where the cameras are positioned on a predeterminedcircumference (FIG. 1). As shown in FIG. 17, the main cameras are notadjacent to each other, and the slave camera is positioned between themain cameras.

The two main cameras are referred to as the main camera m and the maincamera b, and one slave camera positioned between the main camera m andthe main camera b is referred to as the slave camera a. For example, θmis the view angle of the main camera m, θb is the view angle of the maincamera b, and θa is the view angle of the slave camera a. Further, thex-axis is an axis which is perpendicular to the optical axis of the maincamera m and which is horizontal to the ground contact surface, they-axis is in the direction of the optical axis, and the z-axis is anaxis which is perpendicular to the optical axis and which isperpendicular to the ground contact surface. Furthermore, thecoordinates of the main camera m are (xm, ym, zm), the coordinates ofthe slave camera a are (xm+xa, ym−ya, zm), and the coordinates of themain camera b are (xm+xb, ym−yb, zm). The rotational coordinates of themain camera m in the xyz three-dimensional space coordinates are (0, 0,0), the rotational coordinates of the slave camera a are (0, 0, φ), andthe rotational coordinates of the main camera b are (0, 0, φ′). The viewangle θa of the slave camera a is derived as a value satisfying thefollowing formula so that the main camera m and the main camera b canzoom in on the objects and generate a wide-view-angle image.

$\begin{matrix}{{{{D_{b}\tan\frac{\theta_{b}}{2}} + {\left( {D_{b} + {\left( {y_{b} - y_{a}} \right){\sin\left( {\frac{\pi}{2} - \phi^{\prime}} \right)}}} \right){\tan\left( {\frac{\theta_{a}}{2} - \left( {\phi^{\prime} - \phi} \right)} \right)}} - x_{b}} > {th}}\therefore\mspace{79mu}{\theta_{a} > {{2\left( {\phi^{\prime} - \phi} \right)} + {2\;{\tan^{- 1}\left( \frac{{Th} - {D_{b}\tan\frac{\theta_{b}}{2}} + x_{b}}{D_{b} + {\left( {y_{b} - y_{a}} \right){\sin\left( {\frac{\pi}{2} - \phi^{\prime}} \right)}}} \right)}}}}} & {{Formula}\mspace{14mu}(9)}\end{matrix}$

Incidentally, Th is a threshold, and in the present embodiment, Th is athreshold for determining how much a given area of the object obj2captured by the main camera b overlaps a given area of the object obj2captured by the slave camera a. The view angle deriving unit 201 outputsthe view angle derived in S1608 to the slave camera. The control unit107 of the slave camera performs control so that the view angle of theslave camera becomes the view angle received by the optical unit 101.

In S1609, the view angle deriving unit 201 derives the image angle ofthe main camera. In the first embodiment, explanation has been made onthe mode in which the view angle of the main camera is set via the inputunit 209 of the PC 200. Accordingly, in S1609, there is a case where theview angle θa of the main camera for capturing the object obj1 and theview angle θa of the main camera for capturing the object obj2 are setat different view angles. In the present embodiment, the view angle ofthe main camera capturing the object at the shortest distance is set asthe view angles of the main cameras corresponding to all the camera IDsobtained in S1602. In the example shown in FIG. 17, the view anglederiving unit 201 sets the view angles of the main cameras in theomnidirectional camera 1 so that θm=θb.

As explained above, the view angle deriving unit 201 derives the viewangle θa of the slave camera a by referring to the distance Db, which isthe shortest distance between the main camera and the object. This isbecause as the distance between the main camera and the object becomesshorter, it is necessary to set the view angle of the slave cameraadjacent to the main camera at a larger value. In the example shown inFIG. 17, since the view angle θa of the slave camera a is derived basedon the distance Db, which is the shortest distance, the slave camera acan capture both the object obj1 captured by the main camera m and theobject obj2 captured by the main camera b. Accordingly, theomnidirectional camera 1 of the present embodiment can generate awide-view-angle image without lacking an image. Further, in processingfor enlarging or reducing a taken image according to the presentembodiment (S504), an enlargement/reduction rate S is calculated basedon the view angle (θa) of the slave camera derived in S1608 and the viewangle (θb) of the main camera set in S1609. The view angle deriving unit201 outputs the view angles derived in S1608 and S1609 to the maincameras and slave camera. The control units 107 of the main cameras andthe slave camera perform control so that the view angles of the maincameras and the slave camera are view angles received by the opticalunit 101.

On the other hand, in a case where the camera ID of the adjacent maincamera exists (S1607: YES), in S1610, the view angle deriving unit 201derives the view angle of the main camera. FIG. 18 shows a positionalrelationship between the objects and the main cameras in a case wherethe cameras are positioned on a predetermined circumference (FIG. 1). Asshown in FIG. 18, for example, the two main cameras are adjacent to eachother. The two main cameras are referred to as the main camera m and themain camera a. θm is the view angle of the main camera m, θa is the viewangle of the main camera a, Dm is the distance between the main camera mand the object obj1, and Da is a distance between the main camera a andthe object obj2. Further, the x-axis is an axis which is perpendicularto the optical axis of the main camera m and which is horizontal to theground contact surface, the y-axis is in the direction of the opticalaxis, and the z-axis is an axis which is perpendicular to the opticalaxis and which is perpendicular to the ground contact surface.Furthermore, the coordinates of the main camera m in the xyzthree-dimensional space coordinates are (xm, ym, zm), and thecoordinates of the main camera a are (xm+xa, ym−ya, zm). Likewise, therotational coordinates of the main camera m in the xyz three-dimensionalspace coordinates are (0, 0, 0), and the rotational coordinates of themain camera a are (0, 0, φ). In a case where the main camera m and themain camera a are adjacent to each other, the view angle deriving unit201 derives the view angles θm and θa satisfying the following formulaso that the resolution of each object is at a similar level.

$\begin{matrix}{{{D_{m}\tan\frac{\theta_{m}}{2}} = {D_{a}\tan\frac{\theta_{a}}{2}}}{and}\left\{ \begin{matrix}{{{D_{m}\tan\frac{\theta_{m}}{2}} + {\left( {D_{a} + y_{a}} \right){\tan\left( {\frac{\theta_{a}}{2} - \phi} \right)}} - x_{a}} > {Th}} \\{or} \\{{{D_{a}\tan\frac{\theta_{a}}{2}} + {\left( {D_{a} + y_{a}} \right){\tan\left( {\frac{\theta_{m}}{2} - \phi} \right)}} - x_{a}} > {Th}}\end{matrix} \right.} & {{Formula}\mspace{14mu}(10)}\end{matrix}$

Incidentally, the above explanation has been made on the view angles θmand θa of the main cameras m and a capturing the different objects obj1and obj2, respectively. The omnidirectional camera 1 of the presentembodiment may have a mode in which three or more main cameras areadjacent to one another, and may have a mode in which there exist two ormore groups of adjacent main cameras. Or as in S1609, the view anglederiving unit 201 may set the view angle of the main camera in theomnidirectional camera 1 so that θm=θb.

In S1611, the view angle deriving unit 201 derives the view angle of theslave camera positioned together with the main camera m and the maincamera a in the omnidirectional camera 1. The processing in S1611 isidentical to the processing in S1608 of the present embodiment, and itsexplanation will be omitted. In S1611 as in the processing in S1608, theview angle of the slave camera is derived by referring to the shortestdistance between the main camera and the object. Further, in theprocessing for enlarging or reducing a taken image according to thepresent embodiment (S504), an enlargement/reduction rate S is calculatedbased on the view angle of the main cameras capturing the objects at theshortest distance and the view angle of the slave camera derived inS1611. The view angle deriving unit 201 outputs the view angles derivedin S1610 and S1611 to the main cameras and the slave camera. The controlunits 107 of the main cameras and the slave camera perform control sothat the view angles of the main cameras and the slave camera are viewangles received by the optical unit 101.

As explained above, even in a case where the plurality of main camerasimage the different objects, the omnidirectional camera 1 of the presentembodiment can suppress generation of an area which cannot be imaged andgenerate a wide-view-angle image including part of the object which isimaged with high definition.

[Other Embodiments]

Embodiment(s) of the present invention can also be realized by acomputer of a system or apparatus that reads out and executes computerexecutable instructions (e.g., one or more programs) recorded on astorage medium (which may also be referred to more fully as a‘non-transitory computer-readable storage medium’) to perform thefunctions of one or more of the above-described embodiment(s) and/orthat includes one or more circuits (e.g., application specificintegrated circuit (ASIC)) for performing the functions of one or moreof the above-described embodiment(s), and by a method performed by thecomputer of the system or apparatus by, for example, reading out andexecuting the computer executable instructions from the storage mediumto perform the functions of one or more of the above-describedembodiment(s) and/or controlling the one or more circuits to perform thefunctions of one or more of the above-described embodiment(s). Thecomputer may comprise one or more processors (e.g., central processingunit (CPU), micro processing unit (MPU)) and may include a network ofseparate computers or separate processors to read out and execute thecomputer executable instructions. The computer executable instructionsmay be provided to the computer, for example, from a network or thestorage medium. The storage medium may include, for example, one or moreof a hard disk, a random-access memory (RAM), a read only memory (ROM),a storage of distributed computing systems, an optical disk (such as acompact disc (CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™),a flash memory device, a memory card, and the like.

The control apparatus of the present invention can suppress generationof an area which cannot be imaged and control the view angles of theplurality of cameras.

While the present invention has been described with reference toexemplary embodiments, it is to be understood that the invention is notlimited to the disclosed exemplary embodiments. The scope of thefollowing claims is to be accorded the broadest interpretation so as toencompass all such modifications and equivalent structures andfunctions.

This application claims the benefit of Japanese Patent Application No.2015-172117, filed Sep. 1, 2015, which is hereby incorporated byreference wherein in its entirety.

What is claimed is:
 1. A control apparatus for controlling view anglesof at least two of a plurality of cameras arranged directed towarddifferent directions for capturing a predetermined wide-view-angleimage, in which the plurality of cameras are included in an imagecapturing system, the control apparatus comprising: one or moreprocessors; and a memory having stored thereon instructions, which, whenexecuted by the one or more processors, cause the control apparatus to:change a view angle corresponding to a first camera out of the pluralityof cameras to a first view angle; derive a view angle at which a secondcamera can image an area which cannot be imaged by any of the pluralitycameras using the first view angle and an angle between an optical axisof the first camera and an optical axis of the second camera as a secondview angle of the second camera in a case where, by changing the viewangle of the first camera, an area which cannot be imaged by any of theplurality cameras in the predetermined wide-view-angle is generated,wherein the second camera is different from the first camera out of theplurality of cameras; and cause the first camera to perform imaging byusing the first view angle and the second camera to perform imaging byusing the second view angle.
 2. The control apparatus according to claim1, wherein the instructions, when executed by the one or moreprocessors, further cause the control apparatus to: storeposition/attitude information for specifying a position and attitude ofeach of the plurality of cameras; and obtain a distance from the firstcamera to an object of interest, the first camera being a main camerafor capturing the object of interest, wherein the second view angle ofthe second camera is derived based on the first view angle of the firstcamera, the position/attitude information, and the distance from thefirst camera to the object.
 3. The control apparatus according to claim2, wherein the instructions, when executed by the one or moreprocessors, cause the control apparatus to derive the second view angleso that a given area of the object captured by the first camera at thefirst angle overlaps a given area of the object captured by the secondcamera at the second view angle.
 4. The control apparatus according toclaim 2, wherein the instructions, when executed by the one or moreprocessors, further cause the control apparatus to: obtain relativepositions of the first camera and the object; and change the secondcamera which is adjacent to the first camera and which is closest to theobject to the first camera in a case where the object which was capturedby the first camera is outside an area which can be captured by thefirst camera at the first view angle, wherein the instructions, whenexecuted by the one or more processors, cause the control apparatus to:derive the first view angle of the changed first camera based on theposition/attitude information and the relative positions of the changedfirst camera and the object; and derive the second view angle of thesecond camera adjacent to the changed first camera based on the firstview angle of the changed first camera, the position/attitudeinformation, and the distance from the changed first camera to theobject.
 5. The control apparatus according to claim 2, wherein theinstructions, when executed by the one or more processors, cause thecontrol apparatus to: obtain a plurality of the distances to the objectscaptured by a plurality of main cameras; select a shortest distance fromthe plurality of obtained distances; set the first view angle of thecamera which corresponds to the selected shortest distance to a firstview angle of another main camera out of the plurality of main cameras;and derive the second view angle of the second camera based on the firstview angles, the position/attitude information, and the selectedshortest distance.
 6. The control apparatus according to claim 1,wherein the instructions, when executed by the one or more processors,further cause the control apparatus to obtain one or more images takenat the first view angle and one or more images taken at the derivedsecond view angle, and generate a wide-view-angle image from a group ofthe obtained images.
 7. The control apparatus according to claim 6,wherein the instructions, when executed by the one or more processors,further cause the control apparatus to: convert the one or more imagestaken at the derived second view angle according to anenlargement/reduction rate specified by the first view angle and thesecond view angle; and combine the one or more images taken at the firstview angle and the one or more converted images.
 8. The controlapparatus according to claim 7, wherein a ratio of the first view angleto the second view angle is used as the enlargement/reduction rate.
 9. Acontrol method for controlling view angles of at least two of aplurality of cameras arranged directed toward different directions forcapturing a predetermined wide-view-angle image, in which the pluralityof cameras are included in an image capturing system, the control methodcomprising: changing a view angle corresponding to a first camera out ofthe plurality of cameras to a first view angle; deriving a view angle atwhich a second camera can image an area which cannot be imaged by any ofthe plurality cameras using the first view angle and an angle between anoptical axis of the first camera and an optical axis of the secondcamera as a second view angle of the second camera in a case where, bychanging the view angle of the first camera, an area which cannot beimaged by any of the plurality cameras in the predeterminedwide-view-angle is generated, wherein the second camera is differentfrom the first camera out of the plurality of cameras; and causing thefirst camera to perform imaging by using the first view angle and thesecond camera to perform imaging by using the second view angle.
 10. Anon-transitory computer readable storage medium storing a program forcausing a computer to function as a control apparatus for controllingview angles of at least two of a plurality of cameras arranged directedtoward different directions for capturing a predeterminedwide-view-angle image, in which the plurality of cameras are included inan image capturing system, wherein the control apparatus comprises: oneor more processors; and a memory having stored thereon instructions,which, when executed by the one or more processors, cause the controlapparatus to: change a view angle corresponding to a first camera out ofthe plurality of cameras to a first view angle; derive a view angle atwhich a second camera can image an area which cannot be imaged by any ofthe plurality cameras using the first view angle and an angle between anoptical axis of the first camera and an optical axis of the secondcamera as a second view angle of the second camera in a case where, bychanging the view angle of the first camera, an area which cannot beimaged by any of the plurality cameras in the predeterminedwide-view-angle is generated, wherein the second camera is differentfrom the first camera out of the plurality of cameras; and cause thefirst camera to perform imaging by using the first view angle and thesecond camera to perform imaging by using the second view angle.